公开(公告)号：US20240399690A1

公开(公告)日：2024-12-05

申请号：US18802760

申请日：2024-08-13

Applicant: PIRELLI TYRE S.P.A.

Inventor： Emanuele Luca SCHIAVON ,  Marco CANTU' ,  Matteo CALDERONI ,  Lorenzo AVANZINI

IPC: B29D30/26 ,  B29D30/20 ,  B29D30/30

Abstract: A working station for deposition of elementary semifinished products for building green tyres includes at least one feeding apparatus for feeding an elementary semifinished product, a forming drum, an anthropomorphic robotized arm associated with the forming drum, a control apparatus for sending movement commands to the anthropomorphic robotized arm in order to move the forming drum in a working zone, and a calibration device for calibrating the anthropomorphic robotized arm. The calibration device includes a base plate, a support rotatably mounted on the base plate, and a reference element translatably mounted on the support. The support is positionable in a plurality of first positions relative to the base plate and the reference element is positionable in a plurality of second positions relative to the support and is fixed into one position of the plurality of second positions by inserting at least one pin or screw into one slot of a plurality of slots on the cursor. The control apparatus is also configured for determining target coordinates, retrieving from a memory area a correction function, modifying the target coordinates by means of the correction function, and using processed coordinates for sending the movement commands.

公开(公告)号：US20210146643A1

公开(公告)日：2021-05-20

申请号：US17046763

申请日：2019-04-16

Applicant: PIRELLI TYRE S.P.A.

Inventor： Emanuele Luca SCHIAVON ,  Marco CANTU' ,  Matteo CALDERONI ,  Lorenzo AVANZINI

IPC: B29D30/26 ,  B29D30/30

Abstract: A method for building green tyres includes: feeding an elementary semifinished product with a feeding apparatus; associating an anthropomorphic robotized arm with a forming drum; sending movement commands to the arm to move the forming drum in a working zone, the forming drum being moved while the feeding apparatus is feeding an elementary semifinished product, so that it is laid on the forming drum. Movement commands are sent to the arm, including: determining target coordinates for the arm in order to move the forming drum in the working zone; modifying the target coordinates by a correction function associated with the arm and the working zone, and using the modified coordinates for such movement commands.